#include <Eigen/Dense>
using namespace Eigen;
#ifndef IMU_ALGORITHM_V2_0_1MATHMYDEFINE_H
#define IMU_ALGORITHM_V2_0_1MATHMYDEFINE_H
const Matrix3d I_3 = MatrixXd::Identity(3, 3);//单位矩阵
const Matrix<double, 6, 6> I_6 = MatrixXd::Identity(6, 6);//6*6 I
const Matrix<double, 21, 21> I_21 = MatrixXd::Identity(21, 21);//单位矩阵
const Matrix<double, 33, 33> I_33 = MatrixXd::Identity(33, 33);
const Matrix3d zero = Matrix3d::Zero();
#endif //IMU_ALGORITHM_V2_0_1MATHMYDEFINE_H
